A unified accelerator design for LiDAR SLAM algorithms for low-end FPGAs

Keisuke Sugiura, Hiroki Matsutani

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

A fast and reliable LiDAR (Light Detection and Ranging) SLAM (Simultaneous Localization and Mapping) system is the growing need for autonomous mobile robots, which are used for a variety of tasks such as indoor cleaning, navigation, and transportation. To bridge the gap between the limited processing power on such robots and the high computational requirement of the SLAM system, in this paper we propose a unified accelerator design for 2D SLAM algorithms on resource-limited FPGA devices. As scan matching is the heart of these algorithms, the proposed FPGA-based accelerator utilizes scan matching cores on the programmable logic part and users can switch the SLAM algorithms to adapt to performance requirements and environments without modifying and re-synthesizing the logic part. We integrate the accelerator into two representative SLAM algorithms, namely particle filter-based and graph-based SLAM. They are evaluated in terms of resource utilization, processing speed, and quality of output results with various real-world datasets, highlighting their algorithmic characteristics. Experiment results on a Pynq-Z2 board demonstrate that scan matching is accelerated by 13.67-14.84x, improving the overall performance of particle filter-based and graph-based SLAM by 4.03-4.67x and 3.09-4.00x respectively, while maintaining the accuracy comparable to their software counterparts and even state-of-the-art methods.

本文言語English
ホスト出版物のタイトル2021 International Conference on Field-Programmable Technology, ICFPT 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781665420105
DOI
出版ステータスPublished - 2021
イベント20th International Conference on Field-Programmable Technology, ICFPT 2021 - Virtual, Auckland, New Zealand
継続期間: 2021 12月 62021 12月 10

出版物シリーズ

名前2021 International Conference on Field-Programmable Technology, ICFPT 2021

Conference

Conference20th International Conference on Field-Programmable Technology, ICFPT 2021
国/地域New Zealand
CityVirtual, Auckland
Period21/12/621/12/10

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • コンピュータ ビジョンおよびパターン認識
  • ソフトウェア

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